Paper accepted for presentation at 2003 IEEE Bologna PowerTech Conference, June 23-216, Bolognii, Italy

Investigation of the Influence of Series

Compensation in AC Transmission Systems on
Bus Connected Parallel Generating Units with
respect to Subsynchronous Resonance (SSR)
Rajiv Kumar, Atsushi Harada, Michael Merkle, Amir M. Mirii

AbstructSeries capacitor compensation of AC transmission time domain simulation, rotor natural frequencies, network
systems provides an economical solution for the power natural frequencies.
transmission companies to increase maximum power carrying
capacity of existing transmission lines, control of load sharing of I. INTRODUCTION
parallel lines and enhance transient stability. However, looking at
it from generating utility point of view, the series compensation of EREGULATION of electricity markets has resulted in
lines may lead to possible Subsynchronous Resonance (SSR), in
case of transient faults, of turbine generator units resulting in
D separation of Utility Companies (responsible for power
generation) and Transmission Companies, (responsible for
fatigue life reduction of turbine generator rotors and even
damages which may prove to be very costly. In power stations power transmission). The decision making with respect to
having more than one bus connected parallel generating units, the power system planning is no more under the same umbrella. In
SSR consequences depend on the number of units in parallel fact, companies on both sides hwe a severe cost reduction
operation at the time of transient fault occurrence. In this paper, focus due to the competitive pressure. As a result, each side is
these consequences have been simulated for different com-
tempted to make independent decisions favorable to it. One
binations of parallel operating units for a power station having
five generating units to determine the worst case combination. such important decision is relaled to the extent of series
Simulations have been done for varying compensation ratio. capacitor compensation for the long AC transmission lines.
Acceptable value of series compensation ratio has been For the transmission side, larger the series capacitor com-
determined considering worst case operating units combination pensation ratio greater is the enhancement in load carrying
and the fatigue limit of turbine generator rotor. Frequency capability of the existing transmission lines. Rather than
domain analysis of electrical torque to determine the turbine
generator rotor natural frequencies, frequency scanning of investing huge amounts in laying new lines the series
passive electrical network reactance viewed from a point behind compensation in existing long lines (particularly in the
the generator stator winding to determine the network natural scenario of transmission of power across the countries) is an
frequencies, and finally the time domain simulation to capture the attractive economical solution for the transmission side.
system dynamics following a transient fault have been
demonstrated for different operating unit combinations. Looking at it from generation utility's point of view, more the
Simulation methodology demonstrated in this paper can prove to series capacitor compensation ratlio greater is the risk of SSR
be very useful for system planning decisions related to which may lead to very significanl reduction in fatigue life and
determining SSR risks of series compensation for bus connected even failures of the turbine generator rotor. This may prove
parallel generating units.
very costly for the generation side in terms; of downtime and
Index Term- Bus connected parallel generating units, fatigue
life of rotor, frequency domain analysis, frequency scanning, repairs of the generating units. The issue becomes more
series capacitor compensation, Subsynchronous Resonance (SSR), important when the utility company has bus connected parallel
generating units. In this case t h e SSR behavior of units is
dependent on how many units arc in operation at the time of
R. Kumar*, A. Harada, M. Merkle, A. M. Miri are with occurrence of a transient fault in the series compensated
Institute of Electric Energy Systems and High-Voltage transmission system. Depending on compensation ratio and
Technology (IEH), University of Karlsruhe (TH), combination of units in parallel operation, the SSR oscillations
Kaiserstr. 12, 76128 Karlsruhe, Germany ( Telephone : +49 / may get damped or amplified. In fact the SSR problem may be
721 / 608-6125, fax. : +49 I 7 2 1 I 6 9 52 24, dormant with many units in operaltion but if the transient fault
e-mail: [email protected] (*))
in the system occurs at a time when some units are not in
operation (due to reasons of maintenance or lower load
demand), there may be serious SSR oscillations affecting the
turbine generator rotor fatigue lifc or causing damages. Hence

0-7803-7967-5/03/$17.0002003 E E E
simulation of different unit operating combinations to identify for (1) single generator connected to infinite bus, (2) two
the worst case becomes very important. This paper simulates parallel generators connected to infinite bus and (3) five
power system dynamics and investigates the SSR behavior of parallel generators connected to infinite bus for different series
turbine generators when they are in bus connected parallel compensation ratios. Time domain simulations have also been
operation for varying series compensation ratio. Based on the done for enhanced power transmission capacity by
analysis method presented in this paper, the acceptable value incorporating five identical parallel transmission lines. Finally,
of series compensation ratio considering the worst case SSR as considering SSR as a constraint the acceptable compensation
a constraint can be worked out. This contribution can be very ratio has been determined for the worst case.
useful for finding a solution acceptable to both transmission
and generation side with respect to series Compensation ratio. 111. CASE STUDIES

11. METHODOLOGY A. IEEE First Benchmark: Single generator connected to

infinite bus
SSR behavior of generating units connected to infinite bus
The power system network is shown in Fig. 1. The system
has been simulated using the power system software
frequency is 60 Hz. Only single generator namely “GEN I” is
NETOMAC. Steam turbine generator rotor is simulated by a
lumped spring-mass model with spring constants and inertia connected to Bus A and all other generators in Fig. 1 are not
connected to Bus A for this case study. The lumped spring-
coefficients of different rotor masses given in IEEE First
mass model of steam turbinegenerator rotor is shown in
BUSC B Fig. 2. The parameters used for simulation in NETOMAC
program are same as given in [2].
0.02 @.U. j 0.5 p.u. Xc= -1 0.37 p.u k Percentage Torque :
30% 26% 22% 22% 100%

I
HP
I I I IP LPA LPB GEN
f
EXC

Inertia Constant (seconds) :

Hm==ll.093 HIpEo.156 €€,,=0.859 HLpB=0.884 EGE&.868 FlExcO.034

Fig. 1. Power system network for SubsynchronousResonance (SSR) studies. Spring Constant @.u.) :
Km.y=7.277 Ku.mA=13.168 K,,,,,,=19.618 KLpsc&26.713 &~.~,+o&r

Fig. 2. Lumped spring mass model of turbine generator rotor.

Benchmark [2]. The generators are represented by Park’s
equations and the admittances by differential equations using The electrical torque characteristics of turbine generator as
the parameters given in [2]. In the first step, rotor natural a function of fkequency is plotted in Fig. 3 and the identified
frequencies have been computed by applying a small signal of significant rotor natural fkequencies are indicated in Table I.
varying fkequency to the turbine governor and plotting
electrical torque characteristics as a h c t i o n of frequency. The Rotor Natural Freauencies
rotor natural frequencies correspond to the peaks of this ..................................

characteristics [4]. In the second step, natural fkequencies of

electrical network have been determined for different values of
series compensation by carrying out frequency scanning of the
passive network after replacing the generator by sub-transient
reactance ()o’= 0.135 P.u.) and looking to the network from a
point behind the generator stator winding. The electrical
network natural frequency corresponds to zero-crossing of
reactance. SSR risks are clearly indicated when the slip
frequencies (synchronous frequency - network natural
frequency) are close to the rotor natural frequencies [4].
Time domain simulations have been carried out to study the
transient behavior of the system by simulating a three-phase
1 10 10
short circuit fault at BUS B (as shown in Fig. 1.). The fault is Frequency (Hz)
cleared after 75 milliseconds. The transient response of Fig. 3. Electrical torque characteristics of turbine generator.
generator current, electrical torque and mechanical rotor
torque have been observed to investigate the system dynamics
causing SSR oscillations.
After establishing the validity of model with IEEE First
Benchmark [2],time domain simulations have been carried out
 TABLE I TABLE U
ROTORNATURAL FREQUENCIES ELECTRICAL SYSTEM NATURAL FREQUENCIES COMPAREDWITH ROTOR
Natural Frequency (HZ) NATURAL FREQUENCIES
fim 16.289 Series Network Natural Slip frequency Rotor Natural
Am 20.195 Compensation Freq. 60-fe (Hz) Freq.
h m 25.500 (Percentage) fe (Hz) fm (fi)
f4m 32.283 94.00 44.125 15.875 16.289
74.20 40.000 20.000 20.195
57.40 35.625 24.375 25.500
37.00 28.750 31.250 32.283

PJ= 0.135 p.m. j 0.14 p.e 0.02p.u. j0.Sp.u. Xc:vded jO.06p.u.

I Time domain analysis has been carried out by simulating a
Looking to the Network disturbance of 3-phase to ground1 short circuit at BUS B (as
from a point behind the stator winding
shown in Fig. 1.) at the time instant marked by point A in
0 I Fig. 6. when the voltage on phase R of BTJS B crosses zero.
Fig. 4. Positive sequence equivalent circuit for ffequency scanning of the The disturbance is eliminated after 0.075 s at the time instant
passive network. marked by point B in Fig. 6 plhase by phase when phase
current crosses zero. Transient tinie domain. simulation results
Frequency scanning of the passive network to determine the (with 74.2% series compensation ratio) indicating generator
network natural frequencies has been done using positive current, electrical torque and mechanical torque with time are
sequence equivalent circuit as shown in Fig. 4. Reactance shown in Fig. 6.
characteristics of passive network with 74.2% series
compensation ratio is shown in Fig. 5. The reactance zero
crossing in this case occurs at 40Hz, which is the network
natural frequency.
-- ElectTorque
3

- 0.5 I /
h

v
21

0
Frequency (Hz)
OirI 1
d
2
-0.5

0 05 01 0 15 02 0 25 03
Time (seconds)
Fig. 6. Transient time domain simuhtion results with 74.2% series
compensation ratio (generator current, electrical torque and mechanical
Fig. 5. Reactance characteristics of passive network with 74.2% series torque characteristics as a function of time).
compensation ratio.

The electrical system natural frequencies for four different

values of series compensation ratios as computed are indicated
in Table 11. along with the corresponding slip frequencies and
the rotor natural fiequencies which are very close to these
fiequencies. Clearly, the SSR risks are expected when the
generator current has subsynchronous frequencies close to
these network frequencies.

Fig. 7. Frequency spectrum of generator current following the disturbance.

 In Fig. 6, we can clearly see the sequence of events leading 5
to the SSR oscillations. Following the disturbance at point A, h

the generator current waveform shape as well as the amplitude zo

U

5
get disturbed as the generator feeds the fault. Frequency
3
spectrum of the disturbed current wave form is shown in
- Two Parallel Generators
; 0
Fig. 7. We can observe that following the disturbance,
generator current has a very large component near to 40 Hz
fiequency leading to the induction generator effect. As a result
z
U
5

5
the electrical torque oscillations begin and the mechanical
rotor torque oscillations follow. Further, the 40 Hz component
of current corresponds to 20 Hz slip fiequency which happens
to be very close to the natural kequency of the rotor. Hence,
the rotor starts oscillating and helps the subsynchronous
electrical torque as the damping is less than the torque. There 0 0 05 0.1 0.15
Time (seconds)
0.2 0 25 03

is a growing exchange of energy between the electrical system Fig. 8. Comparison of mechanical torque oscillations following
and the mechanical rotor at subsynchronous frequency and disturbance when (1) single generator, (2) two parallel generators and (3)
both the electrical and mechanical systems get excited as seen five parallel generators are in operation (with 74.2% series capacitor

-
in Fig. 6. The mechanical torque reaches 2 p.u. at time instant compensation ratio for each case),
0.2 s (i.e. within about 0.15 s of fault occurrence) thereby
seriously affecting the fatigue life of the rotor. The simulation 5
h
results compare well with IEEE Benchmark [2], hence
establishing the validity of our model.
v2

5 { - Two Parallcl Gcncrators I

B. Bus Connected parallel Generators with Single Line c I
? 0'
Transmission System "CL
5-
Detailed investigation of SSR phenomenon for bus
connected parallel generators has been carried out by time
domain simulation of two, three, four and five generators in
parallel with varying compensation ratio. The transmission line
network and fault conditions are the same as indicated under
case studyA above. The objective of this investigation is to
identify the worst case operating combination of generating
units with respect to the SSR problem. Typical results are
shown in Fig. 8 for 74.2% series capacitor compensation
ratio comparing the mechanical torque oscillations when (1)
single generator, (2) two parallel generators and (3) five
parallel generators are in operation and in Fig. 9 for 37%
compensation ratio. It can be clearly observed that with
74.2% compensation ratio the mechanical torque oscillations C. Bus Connected parallel Generators with Five parallel
get amplified when two generators are in parallel operation Lines TransmissionSystem
and the amplitude increases to a value of more than 3 p.u. at In order to enhance the power transmission capacity of the
time instant 0.27 s (i.e. in about 0.22 s after the occurrence of network, five identical transmission lines connected in parallel
disturbance). With more than two generators in parallel the between BusA and BusB have been simulated in this case
torque oscillations are damped and as shown in Fig. 8 with five study. The impedance of each of these five transmission lines
generators, the amplitude of oscillations is within 1 p.u. With is same as that for the single line considered in case studyA
37% series compensation ratio even though with two parallel
and B above. Typical results of time domain simulation are
generating units, the torque oscillation amplitude is smaller as
shown in Fig. 10. for 74.2% series capacitor compensation
compared to the case with single generator operation, but the
torque amplitude grows to 2.0 p.u. at time instant 0.29 s (i.e. in ratio (for each of the five parallel transmission lines)
about 0.24 s after the occurrence of disturbance) and is not comparing the mechanical torque oscillations when (1) single
considered acceptable. generator, (2) two parallel generators and (3) five parallel
generators are in operation. In this case also it can be observed
that the mechanical torque oscillations get amplified when two
generators are in parallel operation and the amplitude
increases to a value of more than 5 p.u. at time instant 0.23 s
(i.e. in about 0.18 s after the occurrence of disturbance). With
more than two generators in parallel the torque oscillations are as the acceptable upper limit of :series compensation. Greater
damped and as shown in Fig. 10 with five generators, the value of compensation will result in SSR risks and fatigue life
maximum amplitude of oscillations is about 3 p.u. which is not reduction of the rotor system.
acceptable.

5
IV. CONC1,USION
'?
2 0
This paper has clearly demonstrated the methodology for
w carrying out simulation studies for a power station having five
-51 ,
identical generating units to determine the worst case
0 0 05 01 0.15 0.2 0 25 0.3
combination of bus connected parallel units considering the
SSR consequences. The study cases indicate that the SSR
consequences of series capacitor compensation of long
transmission lines are greatly influenced by the number of bus
0 0 05 0.1 0 15 0.2 0.25 03 connected parallel generating units in operation at the time of
5
transient fault occurrence and the worst ca:se SSR oscillations
c occur when two units are in operation. Generally, in large
2 0
w power stations many identical generating units are employed to
5
achieve the required installed capacity. In :such a case it is of
0 0 05 0. I 0 15 02 0.25 03
Time (seconds) great importance for the generating utilities to determine the
Fig. 10. Comparison of mechanical torque oscillations following disturbance worst case combination of generating units with respect to the
with five identical transmission lines connected in parallel when (1) single SSR problem. Thereafter the acceptable value of series
generator, (2) two parallel generators and (3) five parallel generators are in compensation ratio can be detemiined considering the fatigue
operation (with 74.2% series capacitor compensation ratio for each case). limits of turbine generator rotor as demonstrated in this paper.
The transmission companies need to respect this acceptable
value (e.g. only 15% in the case simulated here) as the upper
D. Determination of the Acceptable Value of Series limit for their decision making with respect to the series
Compensation Ratio compensation. Similar simulation studies can be carried out in
Investigations of SSR behavior following a system case the generating units are non identical.
disturbance in parallel generating units environment for series
compensated lines has revealed that the worst case is when two
generating units are running in parallel. For this worst case, we V. REFERENCES
have carried out simulations, with five identical transmission
lines connected in parallel (as in case studyC above) with
Periodicals:
varying ratio of series compensation and observed that only I. M. Canay, "A novel approach to the torsional interaction and
when the series compensation ratio is up to 15%, the torque electricd damping of the synchronous machine, Part I: Theory," IEEE
oscillations are within 2.0 p.u. and reduce in amplitude after Trans. On Power Apparatus and Systems, Vol. PAS-101, N0.10, 1982,
time instant 0.25 s (i.e. in about 0.20 s after the occurrence of ~ ~ 3 6 3 0 - 37.6 3
IEEE SSR Working Group, "First Benchmark Model for Computer
disturbance) as seen in Fig. 11. Considering 2.0 p.u. (i.e. Simulation of Subsynchronous Resonance," IEEE Trans. on Power
1.0 p.u. above the nominal value of 1.0 P.u.) as the worst case Apparatus and System, Vol. PAS-96, NoS,Sep./Oct. 1977, pp. 1565-
upper limit constraint for fatigue life reduction of the turbine 1572.
generator rotor, 15% series compensation ratio is determined B. L. Agarwal, R.G. Farmer, "Use of ffequency scanning technique for
subsynchronous resonance analysis," IEEE Tram On Power Apparatus
and Systems, Vol. PAS-98, N0.2, 1979, pp341-348.
X. Lei, B. F. Buchholz, E. Lerch, D. Povh, D. Retzmann, "A
Comprehensive Simulation Program for Subsynchronous resonance
Analysis".0-7803-6420-1/00/$10.00(c)2000IEElT ,pp. 695-700.

Books:
[5] Subsynchronous Resonance in Power Systems.,P. M. Anderson, B. L.
Agarwal, , J. E. Van Ness, IEEE Press, 1990.
[6] Analysis of Subsynchronous Resonance in Power Systems, K. R.
Padiyar, USA, Kluwer Academic l'ublishers, 1999.
[7] Power System Stability and Conlrol. New York, Prabha Kundur,
Time (seconds) McGraw-Hill, Inc., 1993.
[8] Voltage Stability of Electric Power Systems, Thieny Van Cutsem,
Fig. 11. Mechanical torque oscillations following disturbance with five Sostas Vournas, USA Kluwer Academic Publishers, 1998.
identical transmission lines connected in parallel when two generators [9] Understanding FACTS, Narain Ci. Hingorani, Laszlo Gyugyi, IEEE
are in operation (with 15% compensation ratio). Press, 2000.
 VI. BIOGRAPHIES

Rajiv Kumar was born in Junpat, India, in 1958. He

received his B.Sc. (Electrical & Electronics) Engineering &
Master of Business Administration W A ) , from the Uni-
versity of Delhi, India in 1979 and 1996 respectively and
M.Sc. ( Electrical Engineering ) from the Institute of
Electric Energy Systems and High-Voltage Technology,
University of Karlsruhe, Germany. From 1979 onwards he
g in National Thermal Power Corporation (NTPC) of India in
the engineering department for 17 years (on basic and detailed engineering of
new projects, renovation & modernisation of old projects, consultancy
projects), erection and commissioning of 432 MW combined cycle Faridabad
Gas Power Station for two and a half years, Operation & Maintenance of
National Capital Power Station - Dadri (840 MW Coal Fired and 817 M W
Combined Cycle Power Plant) for two years as Deputy General Manager.
Since December 2001 he is a researcher with the Institute of Electric Energy
Systems and High -Voltage Technology, University of Karlsruhe, Germany
working in the area of Electric Power System.

Atsushi Harada was born in Tokyo, Japan, in 1977. He

received his BSc. of electrical and electronic engineering
from the University of Niigata, Japan in 1999. He is
currently working towards his M.Sc. of electrical
engineering in the Institute of Electric Energy Systems and
High-Voltage Technology, University of Karlsruhe, Ger-
many.

Michael Merkle was born in Freiburg, Germany, in 1971

He studied at Universities of Stuttgart, Karlsruhe, and
Dublin and received his Dip1 -1ng -degree in 1998 He
received his PhD degree in 2002 from the in the Institute of
Electric Energy Systems and High-Voltage Technology,
University of Karlsruhe His research interests are power
system stability, load modelling and FACTS and Sub-
Synchronous Resonance

Amir M. Miri was received the Dipl.-Ing. Degree in

electrical engineering from the University of Hannover,
Germany, in 1960. After having finished his studies, he
joined the scientific staff of the Institute of Electric Energy
Systems and High Voltage Technology (EH) of the
University of Karlsruhe, Germany and completed his PhD.
From 1966 until 1972, he worked as Associate Professor
in Electrical Engineering at the Faculty of Engineering of
the University of Teheran, Iran. In 1972, he became Full Professor and
Director of the Institute for Electrical Engineering at the University of
Teheran. In 1979, he joined the scientific staff of E H of the University of
Karlsruhe. Since 1984, he is engaged with teaching and research as a
Professor in the field of Electric Energy Systems, Transients, Structural
Analysis (Substations), Electromagnetic Field Calculation, and Numerical
Simulation (High Voltage Components). He is a member of the CIGRE WG
23-1 1 ESCC task force.